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<pre><span class="sourceLineNo">001</span>package frc3128.Util.Connection;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import com.sun.squawk.util.StringTokenizer;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Timer;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import frc3128.Util.DebugLog;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import java.io.IOException;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import java.io.InputStream;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import java.io.OutputStream;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import javax.microedition.io.Connector;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import javax.microedition.io.SocketConnection;<a name="line.10"></a>
<span class="sourceLineNo">011</span><a name="line.11"></a>
<span class="sourceLineNo">012</span>/**<a name="line.12"></a>
<span class="sourceLineNo">013</span> *<a name="line.13"></a>
<span class="sourceLineNo">014</span> * @author Yousuf Soliman<a name="line.14"></a>
<span class="sourceLineNo">015</span> */<a name="line.15"></a>
<span class="sourceLineNo">016</span>//TODO Clean up connection logic and follow synchronization methods<a name="line.16"></a>
<span class="sourceLineNo">017</span>//TODO Remove "synchronzied" from all methods and exhcange with synced blocks<a name="line.17"></a>
<span class="sourceLineNo">018</span>//TODO Test Raspberry Pi communication<a name="line.18"></a>
<span class="sourceLineNo">019</span>public final class RaspberryPi {<a name="line.19"></a>
<span class="sourceLineNo">020</span>    private static final String RPiURL = "socket://10.31.28.12:4242";<a name="line.20"></a>
<span class="sourceLineNo">021</span>    private static final int BUFFERSIZE = 64;<a name="line.21"></a>
<span class="sourceLineNo">022</span>    private static final char DELIMITER = ',';<a name="line.22"></a>
<span class="sourceLineNo">023</span>    private SocketConnection socket;<a name="line.23"></a>
<span class="sourceLineNo">024</span>    private InputStream inStream;<a name="line.24"></a>
<span class="sourceLineNo">025</span>    private OutputStream outStream;<a name="line.25"></a>
<span class="sourceLineNo">026</span>    String rawData;<a name="line.26"></a>
<span class="sourceLineNo">027</span>    byte[] receivedData;<a name="line.27"></a>
<span class="sourceLineNo">028</span>    private boolean connected = false;<a name="line.28"></a>
<span class="sourceLineNo">029</span>    private boolean enabled = false;<a name="line.29"></a>
<span class="sourceLineNo">030</span>    private boolean running = true;<a name="line.30"></a>
<span class="sourceLineNo">031</span><a name="line.31"></a>
<span class="sourceLineNo">032</span>    public static class DataKeeper {<a name="line.32"></a>
<span class="sourceLineNo">033</span>        private static int distance = 0;<a name="line.33"></a>
<span class="sourceLineNo">034</span>        private static int offset = 0;<a name="line.34"></a>
<span class="sourceLineNo">035</span>        private static double time = 0;<a name="line.35"></a>
<span class="sourceLineNo">036</span>        private static boolean report = false;<a name="line.36"></a>
<span class="sourceLineNo">037</span><a name="line.37"></a>
<span class="sourceLineNo">038</span>        public static synchronized void setReport(boolean rprt) {<a name="line.38"></a>
<span class="sourceLineNo">039</span>            report = rprt;<a name="line.39"></a>
<span class="sourceLineNo">040</span>            SDWrite.writeToDashboard("RPi::Report", rprt);<a name="line.40"></a>
<span class="sourceLineNo">041</span>        }<a name="line.41"></a>
<span class="sourceLineNo">042</span><a name="line.42"></a>
<span class="sourceLineNo">043</span>        public static synchronized void setDistance(int dist) {<a name="line.43"></a>
<span class="sourceLineNo">044</span>            distance = dist;<a name="line.44"></a>
<span class="sourceLineNo">045</span>            SDWrite.writeToDashboard("RPi::Distance", distance);<a name="line.45"></a>
<span class="sourceLineNo">046</span>        }<a name="line.46"></a>
<span class="sourceLineNo">047</span>        <a name="line.47"></a>
<span class="sourceLineNo">048</span>        public static synchronized void setOffset(int offst) {<a name="line.48"></a>
<span class="sourceLineNo">049</span>            offset = offst;<a name="line.49"></a>
<span class="sourceLineNo">050</span>            SDWrite.writeToDashboard("RPi::Offset", offset);<a name="line.50"></a>
<span class="sourceLineNo">051</span>        }<a name="line.51"></a>
<span class="sourceLineNo">052</span>        <a name="line.52"></a>
<span class="sourceLineNo">053</span>        public static synchronized void setTime(double t) {<a name="line.53"></a>
<span class="sourceLineNo">054</span>            time = t;<a name="line.54"></a>
<span class="sourceLineNo">055</span>            SDWrite.writeToDashboard("RPi::Time", time);<a name="line.55"></a>
<span class="sourceLineNo">056</span>        }<a name="line.56"></a>
<span class="sourceLineNo">057</span>        <a name="line.57"></a>
<span class="sourceLineNo">058</span>        public static synchronized boolean getReport() {return report;}<a name="line.58"></a>
<span class="sourceLineNo">059</span>        public static synchronized int getDistance() {return distance;}<a name="line.59"></a>
<span class="sourceLineNo">060</span>        public static synchronized int getOffset() {return offset;}<a name="line.60"></a>
<span class="sourceLineNo">061</span>        public static synchronized double getTime() {return time;}<a name="line.61"></a>
<span class="sourceLineNo">062</span><a name="line.62"></a>
<span class="sourceLineNo">063</span>        private DataKeeper() {}<a name="line.63"></a>
<span class="sourceLineNo">064</span>    }<a name="line.64"></a>
<span class="sourceLineNo">065</span><a name="line.65"></a>
<span class="sourceLineNo">066</span>    private class RaspberryPiThread extends Thread {<a name="line.66"></a>
<span class="sourceLineNo">067</span>        RaspberryPi rPi;<a name="line.67"></a>
<span class="sourceLineNo">068</span>        public int distance;<a name="line.68"></a>
<span class="sourceLineNo">069</span>        public int offset;<a name="line.69"></a>
<span class="sourceLineNo">070</span>        public double time;<a name="line.70"></a>
<span class="sourceLineNo">071</span>        private boolean report;<a name="line.71"></a>
<span class="sourceLineNo">072</span>        <a name="line.72"></a>
<span class="sourceLineNo">073</span>        public RaspberryPiThread(RaspberryPi rPi) {<a name="line.73"></a>
<span class="sourceLineNo">074</span>            super("PiSocket");<a name="line.74"></a>
<span class="sourceLineNo">075</span>            this.rPi = rPi;<a name="line.75"></a>
<span class="sourceLineNo">076</span>        }<a name="line.76"></a>
<span class="sourceLineNo">077</span>        <a name="line.77"></a>
<span class="sourceLineNo">078</span>        public void run() {<a name="line.78"></a>
<span class="sourceLineNo">079</span>            while (running) {<a name="line.79"></a>
<span class="sourceLineNo">080</span>                if (rPi.isEnabled())<a name="line.80"></a>
<span class="sourceLineNo">081</span>                    if (rPi.isConnected()) {<a name="line.81"></a>
<span class="sourceLineNo">082</span>                        report = true;<a name="line.82"></a>
<span class="sourceLineNo">083</span>                        try {<a name="line.83"></a>
<span class="sourceLineNo">084</span>                            String[] data = rPi.tokenizeData(rPi.getRawData());<a name="line.84"></a>
<span class="sourceLineNo">085</span>                            time = Timer.getFPGATimestamp();<a name="line.85"></a>
<span class="sourceLineNo">086</span>                            if (data.length &lt; 2) <a name="line.86"></a>
<span class="sourceLineNo">087</span>                                report = false;<a name="line.87"></a>
<span class="sourceLineNo">088</span>                            else {<a name="line.88"></a>
<span class="sourceLineNo">089</span>                                try {<a name="line.89"></a>
<span class="sourceLineNo">090</span>                                    distance = Integer.parseInt(data[1]);<a name="line.90"></a>
<span class="sourceLineNo">091</span>                                    offset = Integer.parseInt(data[0]);<a name="line.91"></a>
<span class="sourceLineNo">092</span>                                } catch (NumberFormatException ex) {report = false;}<a name="line.92"></a>
<span class="sourceLineNo">093</span>                            }<a name="line.93"></a>
<span class="sourceLineNo">094</span>                        } catch (IOException ex) {report = false;}<a name="line.94"></a>
<span class="sourceLineNo">095</span>                        DataKeeper.setReport(report);<a name="line.95"></a>
<span class="sourceLineNo">096</span><a name="line.96"></a>
<span class="sourceLineNo">097</span>                        if (report) {<a name="line.97"></a>
<span class="sourceLineNo">098</span>                            DataKeeper.setDistance(distance);<a name="line.98"></a>
<span class="sourceLineNo">099</span>                            DataKeeper.setOffset(offset);<a name="line.99"></a>
<span class="sourceLineNo">100</span>                            DataKeeper.setTime(time);<a name="line.100"></a>
<span class="sourceLineNo">101</span>                        }<a name="line.101"></a>
<span class="sourceLineNo">102</span>                    } else<a name="line.102"></a>
<span class="sourceLineNo">103</span>                        try {rPi.connect();} catch (IOException ex) {DataKeeper.setReport(false);}<a name="line.103"></a>
<span class="sourceLineNo">104</span>                try {Thread.sleep(375);} catch (InterruptedException ex) {}<a name="line.104"></a>
<span class="sourceLineNo">105</span>            }<a name="line.105"></a>
<span class="sourceLineNo">106</span>        }<a name="line.106"></a>
<span class="sourceLineNo">107</span>    }<a name="line.107"></a>
<span class="sourceLineNo">108</span>    <a name="line.108"></a>
<span class="sourceLineNo">109</span>    public RaspberryPi() {<a name="line.109"></a>
<span class="sourceLineNo">110</span>        Thread thread = new RaspberryPiThread(this);<a name="line.110"></a>
<span class="sourceLineNo">111</span>        try {connect();} catch (IOException ex) {<a name="line.111"></a>
<span class="sourceLineNo">112</span>            ex.printStackTrace();<a name="line.112"></a>
<span class="sourceLineNo">113</span>            DebugLog.log(DebugLog.LVL_SEVERE, this, ex.getMessage());<a name="line.113"></a>
<span class="sourceLineNo">114</span>        }<a name="line.114"></a>
<span class="sourceLineNo">115</span>        thread.start();<a name="line.115"></a>
<span class="sourceLineNo">116</span>    }<a name="line.116"></a>
<span class="sourceLineNo">117</span>    <a name="line.117"></a>
<span class="sourceLineNo">118</span>    public synchronized void connect() throws IOException {<a name="line.118"></a>
<span class="sourceLineNo">119</span>        socket = (SocketConnection) Connector.open(RPiURL);//, Connector.READ_WRITE, true);<a name="line.119"></a>
<span class="sourceLineNo">120</span>        inStream = socket.openInputStream();<a name="line.120"></a>
<span class="sourceLineNo">121</span>        outStream = socket.openOutputStream();<a name="line.121"></a>
<span class="sourceLineNo">122</span>        connected = true;<a name="line.122"></a>
<span class="sourceLineNo">123</span>    }<a name="line.123"></a>
<span class="sourceLineNo">124</span>    public synchronized void disconnect() throws IOException {<a name="line.124"></a>
<span class="sourceLineNo">125</span>        socket.close();<a name="line.125"></a>
<span class="sourceLineNo">126</span>        inStream.close();<a name="line.126"></a>
<span class="sourceLineNo">127</span>        outStream.close();<a name="line.127"></a>
<span class="sourceLineNo">128</span>        connected = false;<a name="line.128"></a>
<span class="sourceLineNo">129</span>    }<a name="line.129"></a>
<span class="sourceLineNo">130</span>    public synchronized boolean isConnected() {<a name="line.130"></a>
<span class="sourceLineNo">131</span>        //need to actually test the connection <a name="line.131"></a>
<span class="sourceLineNo">132</span>        //to figure out if we're connected or not<a name="line.132"></a>
<span class="sourceLineNo">133</span>        try {<a name="line.133"></a>
<span class="sourceLineNo">134</span>            outStream.write('\n'); //request Data<a name="line.134"></a>
<span class="sourceLineNo">135</span>            connected = true;<a name="line.135"></a>
<span class="sourceLineNo">136</span>        } catch (IOException ex) {connected = false;} catch (Exception ex) {connected = false;}<a name="line.136"></a>
<span class="sourceLineNo">137</span><a name="line.137"></a>
<span class="sourceLineNo">138</span>        return connected;<a name="line.138"></a>
<span class="sourceLineNo">139</span>    }<a name="line.139"></a>
<span class="sourceLineNo">140</span>    <a name="line.140"></a>
<span class="sourceLineNo">141</span>    public synchronized boolean isEnabled() {return enabled;}<a name="line.141"></a>
<span class="sourceLineNo">142</span>    public int getOffset() {return DataKeeper.getOffset();}<a name="line.142"></a>
<span class="sourceLineNo">143</span>    public int getDistance() {return DataKeeper.getDistance();}<a name="line.143"></a>
<span class="sourceLineNo">144</span>    public double getTime() {return DataKeeper.getTime();}<a name="line.144"></a>
<span class="sourceLineNo">145</span>    public boolean getReport() {return DataKeeper.getReport();}<a name="line.145"></a>
<span class="sourceLineNo">146</span>    public synchronized void start() {enabled = true;}<a name="line.146"></a>
<span class="sourceLineNo">147</span>    public synchronized void stop() {enabled = false;}<a name="line.147"></a>
<span class="sourceLineNo">148</span>    <a name="line.148"></a>
<span class="sourceLineNo">149</span>    public synchronized String getRawData() throws IOException {<a name="line.149"></a>
<span class="sourceLineNo">150</span>        byte[] input;<a name="line.150"></a>
<span class="sourceLineNo">151</span><a name="line.151"></a>
<span class="sourceLineNo">152</span>        if (connected) {<a name="line.152"></a>
<span class="sourceLineNo">153</span>            outStream.write('G'); //request Data<a name="line.153"></a>
<span class="sourceLineNo">154</span>            DebugLog.log(DebugLog.LVL_DEBUG, this, "Requested Data");<a name="line.154"></a>
<span class="sourceLineNo">155</span><a name="line.155"></a>
<span class="sourceLineNo">156</span>            if (inStream.available() &lt;= BUFFERSIZE) {<a name="line.156"></a>
<span class="sourceLineNo">157</span>                input = new byte[inStream.available()]; //storage space sized to fit!<a name="line.157"></a>
<span class="sourceLineNo">158</span>                receivedData = new byte[inStream.available()];<a name="line.158"></a>
<span class="sourceLineNo">159</span>                inStream.read(input);<a name="line.159"></a>
<span class="sourceLineNo">160</span>                for (int i = 0; (i &lt; input.length) &amp;&amp; (input != null); i++)<a name="line.160"></a>
<span class="sourceLineNo">161</span>                    receivedData[i] = input[i]; //transfer input to full size storage<a name="line.161"></a>
<span class="sourceLineNo">162</span>            } else {<a name="line.162"></a>
<span class="sourceLineNo">163</span>                DebugLog.log(DebugLog.LVL_WARN, this, "Data buffer overflow!");<a name="line.163"></a>
<span class="sourceLineNo">164</span>                inStream.skip(inStream.available()); //reset if more is stored than buffer<a name="line.164"></a>
<span class="sourceLineNo">165</span>                return null;<a name="line.165"></a>
<span class="sourceLineNo">166</span>            }<a name="line.166"></a>
<span class="sourceLineNo">167</span><a name="line.167"></a>
<span class="sourceLineNo">168</span>            rawData = ""; //String to transfer received data to<a name="line.168"></a>
<span class="sourceLineNo">169</span>            DebugLog.log(DebugLog.LVL_DEBUG, this, "Raw data size: " + receivedData.length);<a name="line.169"></a>
<span class="sourceLineNo">170</span>            for (int i = 0; i &lt; receivedData.length; i++)<a name="line.170"></a>
<span class="sourceLineNo">171</span>                rawData += (char) receivedData[i]; //Cast bytes to chars and concatenate them to the String\<a name="line.171"></a>
<span class="sourceLineNo">172</span>            DebugLog.log(DebugLog.LVL_DEBUG, this, "Raw data: " + rawData);<a name="line.172"></a>
<span class="sourceLineNo">173</span>            return rawData;<a name="line.173"></a>
<span class="sourceLineNo">174</span>        } else {connect(); return null;}<a name="line.174"></a>
<span class="sourceLineNo">175</span>    }<a name="line.175"></a>
<span class="sourceLineNo">176</span><a name="line.176"></a>
<span class="sourceLineNo">177</span>    public synchronized String[] tokenizeData(String input) {<a name="line.177"></a>
<span class="sourceLineNo">178</span>        StringTokenizer tokenizer = new StringTokenizer(input, String.valueOf(DELIMITER));<a name="line.178"></a>
<span class="sourceLineNo">179</span>        String output[] = new String[tokenizer.countTokens()];<a name="line.179"></a>
<span class="sourceLineNo">180</span>        <a name="line.180"></a>
<span class="sourceLineNo">181</span>        for (int i = 0; i &lt; output.length; i++)<a name="line.181"></a>
<span class="sourceLineNo">182</span>            output[i] = tokenizer.nextToken();<a name="line.182"></a>
<span class="sourceLineNo">183</span>        return output;<a name="line.183"></a>
<span class="sourceLineNo">184</span>    }<a name="line.184"></a>
<span class="sourceLineNo">185</span>}<a name="line.185"></a>




























































</pre>
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